Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Static Protected Attributes | List of all members
RefValJS_PTP_Trajectory Class Reference

#include <RefValJS_PTP_Trajectory.h>

Inheritance diagram for RefValJS_PTP_Trajectory:
Inheritance graph
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Public Member Functions

std::vector< double > dr_ds (double s) const
 
double ds_dt (double t) const
 
std::vector< double > getLengthParts () const
 
double getTotalTime () const
 
std::vector< double > r (double s) const
 
 RefValJS_PTP_Trajectory (const trajectory_msgs::JointTrajectory &trajectory, double v_rad_s, double a_rad_s2, bool smooth=false)
 
double s (double t) const
 
- Public Member Functions inherited from RefVal_JS
virtual std::vector< double > dr_dt (double t) const
 
virtual std::vector< double > getLast () const
 
virtual std::vector< double > r_t (double t) const
 

Protected Types

typedef std::vector< double > vecd
 
typedef std::vector< double >::const_iterator vecd_it
 

Protected Member Functions

double norm (const std::vector< double > &j)
 
double norm_max (const std::vector< double > &j)
 
double norm_sqr (const std::vector< double > &j)
 
double norm_weighted (const std::vector< double > &j)
 

Protected Attributes

double m_a_rad_s2
 
double m_length
 
vecd m_length_cumulated
 
vecd m_length_parts
 
double m_param_length
 
vecd m_s_parts
 
double m_sa1
 
double m_sa3
 
std::vector< std::vector< double > > m_SplinePoints
 
double m_stepSize
 
double m_sv2
 
double m_T1
 
double m_T2
 
double m_T3
 
trajectory_msgs::JointTrajectory m_trajectory
 
BSplineND< std::vector< double > > m_TrajectorySpline
 
double m_v_rad_s
 

Static Protected Attributes

static const double weigths [] = { 1.5, 1.5, 1.0, 1.0, 0.8, 0.8, 0.7 }
 

Detailed Description

Definition at line 27 of file RefValJS_PTP_Trajectory.h.

Member Typedef Documentation

◆ vecd

typedef std::vector<double> RefValJS_PTP_Trajectory::vecd
protected

Definition at line 58 of file RefValJS_PTP_Trajectory.h.

◆ vecd_it

typedef std::vector<double>::const_iterator RefValJS_PTP_Trajectory::vecd_it
protected

Definition at line 59 of file RefValJS_PTP_Trajectory.h.

Constructor & Destructor Documentation

◆ RefValJS_PTP_Trajectory()

RefValJS_PTP_Trajectory::RefValJS_PTP_Trajectory ( const trajectory_msgs::JointTrajectory &  trajectory,
double  v_rad_s,
double  a_rad_s2,
bool  smooth = false 
)

Definition at line 33 of file RefValJS_PTP_Trajectory.cpp.

Member Function Documentation

◆ dr_ds()

std::vector< double > RefValJS_PTP_Trajectory::dr_ds ( double  s) const
virtual

Implements RefVal_JS.

Definition at line 244 of file RefValJS_PTP_Trajectory.cpp.

◆ ds_dt()

double RefValJS_PTP_Trajectory::ds_dt ( double  t) const
virtual

Implements RefVal_JS.

Definition at line 224 of file RefValJS_PTP_Trajectory.cpp.

◆ getLengthParts()

std::vector<double> RefValJS_PTP_Trajectory::getLengthParts ( ) const
inline

Definition at line 49 of file RefValJS_PTP_Trajectory.h.

◆ getTotalTime()

double RefValJS_PTP_Trajectory::getTotalTime ( ) const
inlinevirtual

Implements RefVal_JS.

Definition at line 47 of file RefValJS_PTP_Trajectory.h.

◆ norm()

double RefValJS_PTP_Trajectory::norm ( const std::vector< double > &  j)
inlineprotected

Definition at line 87 of file RefValJS_PTP_Trajectory.h.

◆ norm_max()

double RefValJS_PTP_Trajectory::norm_max ( const std::vector< double > &  j)
inlineprotected

Definition at line 93 of file RefValJS_PTP_Trajectory.h.

◆ norm_sqr()

double RefValJS_PTP_Trajectory::norm_sqr ( const std::vector< double > &  j)
inlineprotected

Definition at line 104 of file RefValJS_PTP_Trajectory.h.

◆ norm_weighted()

double RefValJS_PTP_Trajectory::norm_weighted ( const std::vector< double > &  j)
inlineprotected

Definition at line 114 of file RefValJS_PTP_Trajectory.h.

◆ r()

std::vector< double > RefValJS_PTP_Trajectory::r ( double  s) const
virtual

Implements RefVal_JS.

Definition at line 161 of file RefValJS_PTP_Trajectory.cpp.

◆ s()

double RefValJS_PTP_Trajectory::s ( double  t) const
virtual

Implements RefVal_JS.

Definition at line 205 of file RefValJS_PTP_Trajectory.cpp.

Member Data Documentation

◆ m_a_rad_s2

double RefValJS_PTP_Trajectory::m_a_rad_s2
protected

Definition at line 73 of file RefValJS_PTP_Trajectory.h.

◆ m_length

double RefValJS_PTP_Trajectory::m_length
protected

Definition at line 69 of file RefValJS_PTP_Trajectory.h.

◆ m_length_cumulated

vecd RefValJS_PTP_Trajectory::m_length_cumulated
protected

Definition at line 61 of file RefValJS_PTP_Trajectory.h.

◆ m_length_parts

vecd RefValJS_PTP_Trajectory::m_length_parts
protected

Definition at line 60 of file RefValJS_PTP_Trajectory.h.

◆ m_param_length

double RefValJS_PTP_Trajectory::m_param_length
protected

Definition at line 70 of file RefValJS_PTP_Trajectory.h.

◆ m_s_parts

vecd RefValJS_PTP_Trajectory::m_s_parts
protected

Definition at line 62 of file RefValJS_PTP_Trajectory.h.

◆ m_sa1

double RefValJS_PTP_Trajectory::m_sa1
protected

Definition at line 79 of file RefValJS_PTP_Trajectory.h.

◆ m_sa3

double RefValJS_PTP_Trajectory::m_sa3
protected

Definition at line 81 of file RefValJS_PTP_Trajectory.h.

◆ m_SplinePoints

std::vector< std::vector<double> > RefValJS_PTP_Trajectory::m_SplinePoints
protected

Definition at line 65 of file RefValJS_PTP_Trajectory.h.

◆ m_stepSize

double RefValJS_PTP_Trajectory::m_stepSize
protected

Definition at line 68 of file RefValJS_PTP_Trajectory.h.

◆ m_sv2

double RefValJS_PTP_Trajectory::m_sv2
protected

Definition at line 80 of file RefValJS_PTP_Trajectory.h.

◆ m_T1

double RefValJS_PTP_Trajectory::m_T1
protected

Definition at line 75 of file RefValJS_PTP_Trajectory.h.

◆ m_T2

double RefValJS_PTP_Trajectory::m_T2
protected

Definition at line 76 of file RefValJS_PTP_Trajectory.h.

◆ m_T3

double RefValJS_PTP_Trajectory::m_T3
protected

Definition at line 77 of file RefValJS_PTP_Trajectory.h.

◆ m_trajectory

trajectory_msgs::JointTrajectory RefValJS_PTP_Trajectory::m_trajectory
protected

Definition at line 56 of file RefValJS_PTP_Trajectory.h.

◆ m_TrajectorySpline

BSplineND< std::vector<double> > RefValJS_PTP_Trajectory::m_TrajectorySpline
protected

Definition at line 64 of file RefValJS_PTP_Trajectory.h.

◆ m_v_rad_s

double RefValJS_PTP_Trajectory::m_v_rad_s
protected

Definition at line 72 of file RefValJS_PTP_Trajectory.h.

◆ weigths

const double RefValJS_PTP_Trajectory::weigths = { 1.5, 1.5, 1.0, 1.0, 0.8, 0.8, 0.7 }
staticprotected

Definition at line 83 of file RefValJS_PTP_Trajectory.h.

The documentation for this class was generated from the following files:

cob_trajectory_controller
Author(s): Alexander Bubeck
autogenerated on Mon May 1 2023 02:44:38